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Safe and Robust Autonomous Intersection Management Methods

Chamideh, Seyedezahra LU (2021) In Series of Licentiate and Doctoral Theses
Abstract
Connected Autonomous Vehicles (AV)s can transform urban transportation systems and have the potential to improve the safety and efficiency, since human errors and distractions are removed. However, these systems are vulnerable to model uncertainties, communication impairments associated with the wireless communication, and external disturbances. As a result, vehicles need to drive at low speed and have a large safety distance between vehicles in order to guarantee a safe traveling in the road network. In addition, intersections along the road network inherently slow down the speed of the traffic stream, which may result in congestion. However, when the traffic flow rate is high and approaches the maximum capacity of the intersection,... (More)
Connected Autonomous Vehicles (AV)s can transform urban transportation systems and have the potential to improve the safety and efficiency, since human errors and distractions are removed. However, these systems are vulnerable to model uncertainties, communication impairments associated with the wireless communication, and external disturbances. As a result, vehicles need to drive at low speed and have a large safety distance between vehicles in order to guarantee a safe traveling in the road network. In addition, intersections along the road network inherently slow down the speed of the traffic stream, which may result in congestion. However, when the traffic flow rate is high and approaches the maximum capacity of the intersection, vehicles need to fully stop for periods of time. This has a significant impact on the efficiency of the transportation system.
In the work presented in this thesis, we explore Autonomous Intersection Management (AIM) methods based on different control strategies with the ultimate goal to develop control methods that can be deployed in operational systems. We have mainly investigated the feasibility and implementation challenges of control strategies in a fully autonomous system in the presence of communication impairments associated with wireless channels. We design a solution, a hierarchical control strategy, which is safe and robust against uncertainties, and also works for high traffic demands and speeds.
We evaluated the robustness, scalability and performance of the investi- gated strategies in a realistic urban mobility simulator Simulation of Urban MObility (SUMO) in the presence of communication impairments associated with wireless channels. (Less)
Please use this url to cite or link to this publication:
author
supervisor
organization
publishing date
type
Thesis
publication status
published
subject
in
Series of Licentiate and Doctoral Theses
issue
143
publisher
Lund University
ISSN
1654-790X
1654-790X
ISBN
978-91-8039-112-2
978-91-8039-111-5
language
English
LU publication?
yes
id
a1ea5218-51b2-4ebb-a1d3-e0e9e60678f6
date added to LUP
2021-11-09 16:07:06
date last changed
2023-03-16 17:49:24
@misc{a1ea5218-51b2-4ebb-a1d3-e0e9e60678f6,
  abstract     = {{Connected Autonomous Vehicles (AV)s can transform urban transportation systems and have the potential to improve the safety and efficiency, since human errors and distractions are removed. However, these systems are vulnerable to model uncertainties, communication impairments associated with the wireless communication, and external disturbances. As a result, vehicles need to drive at low speed and have a large safety distance between vehicles in order to guarantee a safe traveling in the road network. In addition, intersections along the road network inherently slow down the speed of the traffic stream, which may result in congestion. However, when the traffic flow rate is high and approaches the maximum capacity of the intersection, vehicles need to fully stop for periods of time. This has a significant impact on the efficiency of the transportation system.<br/>In the work presented in this thesis, we explore Autonomous Intersection Management (AIM) methods based on different control strategies with the ultimate goal to develop control methods that can be deployed in operational systems. We have mainly investigated the feasibility and implementation challenges of control strategies in a fully autonomous system in the presence of communication impairments associated with wireless channels. We design a solution, a hierarchical control strategy, which is safe and robust against uncertainties, and also works for high traffic demands and speeds.<br/>We evaluated the robustness, scalability and performance of the investi- gated strategies in a realistic urban mobility simulator Simulation of Urban MObility (SUMO) in the presence of communication impairments associated with wireless channels.}},
  author       = {{Chamideh, Seyedezahra}},
  isbn         = {{978-91-8039-112-2}},
  issn         = {{1654-790X}},
  language     = {{eng}},
  note         = {{Licentiate Thesis}},
  number       = {{143}},
  publisher    = {{Lund University}},
  series       = {{Series of Licentiate and Doctoral Theses}},
  title        = {{Safe and Robust Autonomous Intersection Management Methods}},
  url          = {{https://lup.lub.lu.se/search/files/109521908/Licentiate_thesis_ZahraChamideh.pdf}},
  year         = {{2021}},
}